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VTOL rate control architecture improvements (#10819)

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* attitude and rate setpoint message: use 3D array for thrust demand
* FixedWingAttitudeControl: rework airspeed scaling
  * move airspeed and scaling calculation into separate method
  * if vtol in hover and airspeed disabled use minimum airspeed instead of trim airspeed
This commit is contained in:
Roman Bapst
2018-11-22 02:32:40 +01:00
committed by Daniel Agar
parent 75c1396ed7
commit 90bfdb6f0a
28 changed files with 387 additions and 414 deletions
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src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
+7 -7
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@@ -916,7 +916,7 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
}
if (pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_att_sp.thrust = 0.0f;
_att_sp.thrust_body[0] = 0.0f;
_att_sp.roll_body = 0.0f;
_att_sp.pitch_body = 0.0f;
@@ -1185,30 +1185,30 @@ FixedwingPositionControl::control_position(const Vector2f &curr_pos, const Vecto
/* making sure again that the correct thrust is used,
* without depending on library calls for safety reasons.
the pre-takeoff throttle and the idle throttle normally map to the same parameter. */
_att_sp.thrust = _parameters.throttle_idle;
_att_sp.thrust_body[0] = _parameters.throttle_idle;
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_TAKEOFF &&
_runway_takeoff.runwayTakeoffEnabled()) {
_att_sp.thrust = _runway_takeoff.getThrottle(min(get_tecs_thrust(), throttle_max));
_att_sp.thrust_body[0] = _runway_takeoff.getThrottle(min(get_tecs_thrust(), throttle_max));
} else if (_control_mode_current == FW_POSCTRL_MODE_AUTO &&
pos_sp_curr.type == position_setpoint_s::SETPOINT_TYPE_IDLE) {
_att_sp.thrust = 0.0f;
_att_sp.thrust_body[0] = 0.0f;
} else if (_control_mode_current == FW_POSCTRL_MODE_OTHER) {
_att_sp.thrust = min(_att_sp.thrust, _parameters.throttle_max);
_att_sp.thrust_body[0] = min(_att_sp.thrust_body[0], _parameters.throttle_max);
} else {
/* Copy thrust and pitch values from tecs */
if (_vehicle_land_detected.landed) {
// when we are landed state we want the motor to spin at idle speed
_att_sp.thrust = min(_parameters.throttle_idle, throttle_max);
_att_sp.thrust_body[0] = min(_parameters.throttle_idle, throttle_max);
} else {
_att_sp.thrust = min(get_tecs_thrust(), throttle_max);
_att_sp.thrust_body[0] = min(get_tecs_thrust(), throttle_max);
}
}